窄道自动驾驶系统初探 Primary Exploration for Narrow Channels Autopilot System

在狭窄路况下，部分驾驶者因驾驶技术差会出现难于安全通过的问题，因此本论文提出窄道自动驾驶设计构想。论文首先介绍适用于窄道自动驾驶的车载环境感知系统，重点针对三种窄道情况提出路径规划方案，并结合横向控制策略中的预瞄跟随理论和纵向控制策略中的多模块组合思想，从理论上初探了窄道自动驾驶系统。 In narrow roads, as part of drivers for poor driving technology will be difficult to drive through the road safely, therefore this paper puts forward the narrow channels autopilot design vision. Paper first introduces the self-driving car environment perception system for narrow channels, focusing on three kinds of schemes for narrow channels, and combines with preview-follower theory included in lateral control strategy and the combined module which is in the longitudinal control strategy. This paper introduces the narrow channel autopilot system in theory preliminarily.